Geometric alignment of 3D pointclouds, obtained using a depth sensor such as a time-of-
flight camera, is a challenging task with important applications in robotics and computer …

With today's advanced 3D scanner technology, huge amounts of point cloud data can be
generated in short amounts of time. Data compression is thus necessary for storage and …

Advanced user interface sensors are able to observe the environment in three dimensions
with the use of specific optical techniques such as time-of-flight, structured light or stereo …

Semantic labeling of RGB-D scenes is very important in enabling robots to perform mobile
manipulation tasks, but different tasks may require entirely different sets of labels. For …

Recently introduced RGB-D cameras are capable of providing high quality synchronized
videos of both color and depth. With its advanced sensing capabilities, this technology …

We consider the case in which a robot has to navigate in an unknown environment, but does
not have enough on-board power or payload to carry a traditional depth sensor (eg, a 3D …

This paper addresses the problem of recognizing human actions from RGB-D videos. A
discriminative relational feature learning method is proposed for fusing heterogeneous RGB …

In order to deal with the scaling problem of volumetric map representations, we propose
spatially local methods for high-ratio compression of 3D maps, represented as truncated …

This paper addresses the task of unsupervised feature learning for three-dimensional
occupancy map**, as a way to segment higher-level structures based on raw unorganized …

This thesis is concerned with topics related to dense map** of large scale three-
dimensional spaces. In particular, the motivating scenario of this work is one in which a …